LeRobot releases OpenUSD models for SO-101 and OpenArm robots

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OpenUSD models of the robots in LeRobot datasets. Their joints and links carry the names of the URDFs in lerobot/robot-urdfs, so a dataset's joint values drive them the way they drive the URDF.

Each is a single layer in meters, Z up, with UsdPhysics joints (limits in degrees) and UsdPreviewSurface materials.

Joints and links

SO-101, as so101_new_calib_web.urdf:

• Joints: shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper (revolute).
• Links: base_link, shoulder_link, upper_arm_link, lower_arm_link, wrist_link, gripper_link, moving_jaw_so101_v1_link, and the gripper_frame_link tip frame.

OpenArm, as openarm_bimanual_web.urdf, for each <side> (left, right):

• Joints: openarm_<side>_joint1 to joint7 (revolute), openarm_<side>_finger_joint1 and finger_joint2 (prismatic, the second following the first), <side>_openarm_hand_joint (fixed).
• Links: openarm_body_link0, openarm_<side>_link0 to link7, openarm_<side>_hand, openarm_<side>_left_finger, openarm_<side>_right_finger, and the openarm_<side>_hand_tcp tip frame.

Checked against the URDFs

• Every link and moving joint of each URDF is here, under the same name, except OpenArm's empty world root. Links the URDF fixes to another (tips, OpenArm's link0s) are plain frames here.
• Posed at 200 random joint configurations, every link lands within 0.006 mm and 0.002° of the URDF's: same zero pose, axes and directions. The URDFs take radians, these models degrees. OpenArm's finger bodies have their frames 1 mm from the URDF's at every pose, which leaves their motion unchanged.
• Both load in @huggingface/usd-web-viewer with no warnings.

Usage

import { loadUsd } from "@huggingface/usd-web-viewer";

const { root } = await loadUsd(
  "https://huggingface.co/datasets/lerobot/robot-usds/resolve/main/so101_new_calib/simready_usd/so101_new_calib.usd",
);
scene.add(root); // a THREE.Group, Y up

Sources and changes

SO-101, from robotstudio_so101 in newton-physics/newton-assets (Apache-2.0), converted there from the MuJoCo Menagerie model:

• composed into one layer;
• the wrist camera mount removed, as the URDF has none;
• links renamed to the URDF's;
• gripper_frame_link added where the URDF puts it;
• recolored from yellow to light grey with black servos, the colors the LeRobot visualizer has drawn it in.

OpenArm, from NVIDIA's openarm_bimanual for Isaac Sim 6.0 (Apache-2.0), also in enactic/openarm_isaac_lab:

• composed into one layer, without the sensors, render settings and colliders, so it is meant for display; for simulation, use NVIDIA's original;
• the ee_tcp bodies, 13 mm from the URDF's tool point, replaced by hand_tcp frames where the URDF puts them;
• the link7-to-hand joints made fixed, and they and the body link renamed to the URDF's;
• OmniPBR materials converted to UsdPreviewSurface, as carbon black, brushed metal or off-white by their lightness, the colors the LeRobot visualizer has drawn it in;
• visual meshes decimated from 2.2M to 404k triangles, within 3.5 mm of the original.

scripts/ rebuilds both (needs usd-core, numpy and, for OpenArm, fast-simplification). Each robot is a package in the SimReady packaging layout, with its file list and hashes; neither has been through NVIDIA's SimReady validation.

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